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수면 근처에서 운동하는 잠수체의 수직면 운동 모델링 및 심도 제어On the Vertical Plane Dynamics Modeling and Depth Control of a Submerged Body Moving beneath Free Surface

Other Titles
On the Vertical Plane Dynamics Modeling and Depth Control of a Submerged Body Moving beneath Free Surface
Authors
최주혁여동진이기표박정용
Issue Date
2006
Publisher
대한조선학회
Keywords
잠수체; 자유표면효과; 잠망경심도; 파강제력과 강제모멘트; 제어기; Submerged body; Free surface effect; Periscope depth; Wave force and moment; Controller
Citation
대한조선학회 논문집, v.43, no.6, pp 647 - 655
Pages
9
Journal Title
대한조선학회 논문집
Volume
43
Number
6
Start Page
647
End Page
655
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/7838
ISSN
1225-1143
Abstract
In this paper, submerged body dynamicsmodel in vertical plane which can include the effect of free surface and wave is suggested to simulate the motions of submerged body moving beneath free surface precisely. A controller is designed, which can maintain a constant depth below the mean sea level and minimize the pitch angle. Numerical simulations show that the designed controller is effective on depth keeping and minimizing pitch angle in regular waves and irregular waves.
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